mirror of
https://github.com/okalachev/flix.git
synced 2025-07-27 09:39:33 +00:00
15 lines
406 B
C
15 lines
406 B
C
#include <ignition/math/Vector3.hh>
|
|
#include <ignition/math/Pose3.hh>
|
|
|
|
using ignition::math::Vector3d;
|
|
using ignition::math::Pose3d;
|
|
|
|
Pose3d flu2frd(const Pose3d& p) {
|
|
return ignition::math::Pose3d(p.Pos().X(), -p.Pos().Y(), -p.Pos().Z(),
|
|
p.Rot().W(), p.Rot().X(), -p.Rot().Y(), -p.Rot().Z());
|
|
}
|
|
|
|
Vector flu2frd(const Vector3d& v) {
|
|
return Vector(v.X(), -v.Y(), -v.Z());
|
|
}
|